EP1403646B1 - Dispositif pour déterminer une décéleration rapide d'un véhicule - Google Patents

Dispositif pour déterminer une décéleration rapide d'un véhicule Download PDF

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Publication number
EP1403646B1
EP1403646B1 EP03256011A EP03256011A EP1403646B1 EP 1403646 B1 EP1403646 B1 EP 1403646B1 EP 03256011 A EP03256011 A EP 03256011A EP 03256011 A EP03256011 A EP 03256011A EP 1403646 B1 EP1403646 B1 EP 1403646B1
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EP
European Patent Office
Prior art keywords
vehicle speed
vehicle
deceleration
rapid deceleration
rapid
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
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EP03256011A
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German (de)
English (en)
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EP1403646A1 (fr
Inventor
Masami c/o JATCO Ltd. Tanaka
Nobuyori c/o JATCO Ltd. Nakajima
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JATCO Ltd
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JATCO Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/489—Digital circuits therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/48—Inputs being a function of acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/16—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by evaluating the time-derivative of a measured speed signal
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/50—Inputs being a function of the status of the machine, e.g. position of doors or safety belts
    • F16H59/54—Inputs being a function of the status of the machine, e.g. position of doors or safety belts dependent on signals from the brakes, e.g. parking brakes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/14—Control of torque converter lock-up clutches
    • F16H61/143—Control of torque converter lock-up clutches using electric control means

Definitions

  • the present invention relates to a vehicle rapid deceleration detection device that detects rapid deceleration of a vehicle.
  • a device that detects rapid vehicle deceleration is disclosed for example in Japanese Laid-Open Patent Publication No. 11-247988 .
  • This device uses pulse signals outputted from a rotation sensor for detecting a vehicle speed.
  • a pulse interval detected on a present occasion is compared with a pulse interval detected at a predetermined prior time, and it is determined that the vehicle is rapidly decelerating when the pulse interval detected on the present occasion is larger than the pulse interval at the predetermined prior time by a predetermined threshold value or more.
  • the rapid deceleration determination is more delayed, the higher is the rapid deceleration, due to the extension of the pulse interval, so the lockup clutch could not be disengaged before vehicle stop or locking of wheel tires.
  • US 6, 161, 427 discloses a vehicle speed sensor that generates a rotation pulse signal, which calculates a threshold value of a pulse cycle based on a desired acceleration, and compares a subsequent pulse period with the threshold value.
  • EP 0 341 445 describes a method of measuring revolution speed using the number of pulses detected in a fixed time period.
  • US 4, 738, 492 discloses an anti-skid breaking system in which the wheel speed is latched at the beginning of each skid cycle and compared to the initial wheel speed, and a wheel speed deceleration rate is derived.
  • rapid deceleration of a vehicle is determined by comparing an elapsed time measured by an elapsed time measuring unit, and a pulse interval calculated by a deceleration pulse interval calculating unit, so rapid deceleration of the vehicle can be determined even at a time a pulse signal is not inputted yet and therefore the pulse interval is not determined.
  • the pulse interval is not determined.
  • FIG. 1 is a schematic view showing a construction of a lockup clutch control system of an automatic transmission for a vehicle according to the present invention.
  • An automatic transmission 1 comprising a torque converter 2 is connected to an engine 4, and an output shaft 8 of the automatic transmission 1 is connected to a propeller shaft 5.
  • the drive force outputted from the engine 4 is inputted to a transmission mechanism 9 of the automatic transmission 1 via the torque converter 2 provided with a lockup clutch 3.
  • rotation speed conversion of the input drive force is performed, and the speed-converted drive force is transmitted from the output shaft 8 to a drive wheel 7 via the propeller shaft 5 and a differential 6.
  • the automatic transmission 1 comprises a control valve 10 provided with shift solenoids 11, 12 and a lockup solenoid 13 as a drive unit, the solenoids 11, 12, 13 being controlled by a transmission controller 100.
  • a brake ON/OFF signal from a brake sensor 21, a throttle valve opening signal from a throttle opening sensor 25, a range signal from an inhibitor switch 26, and pulse signal from a rotation sensor which generates pulse signal in synchronism with the rotation of the output shaft 8, are inputted to the transmission controller 100.
  • the transmission controller 100 calculates an optimum gear position for the present vehicle running condition using the inputted throttle valve opening signal and the range signal, and performs gear shifting of the automatic transmission 1 by switching the shift solenoids 11, 12 ON and OFF so that the calculated gear position is obtained.
  • the transmission controller 100 checks whether or not the present vehicle running condition is in a lockup region where the torque increase function and torque fluctuation absorption function are not required to the torque converter 2. By performing duty control of the lockup solenoid 13 of the control valve 10, the transmission controller 100 makes the torque converter in a lockup state in which the lockup clutch 3 of the torque converter 2 is engaged in the lockup region, and the transmission controller 100 makes the torque converter in a non-lockup state in which the lockup clutch 3 is disengaged in other regions. In particular, when the vehicle is rapidly decelerating, the lockup clutch 3 is rapidly disengaged, and thus engine stall is prevented.
  • a pulse signal from a rotation sensor 20 is inputted to a vehicle speed calculating unit 210 and elapsed time measuring unit 213.
  • a 1-pulse interval measurement elapsed time is measured based on the inputted pulse signal.
  • This 1-pulse interval measurement elapsed time denotes the elapsed time from when the elapsed time measuring unit 213 received a pulse signal outputted by the rotation sensor 20 on the immediately preceding occasion to the present time when the next pulse signal has not been received.
  • the elapsed time measuring unit 213 measures the 1-pulse interval measurement elapsed time, and outputs it to an undetermined vehicle speed calculating unit 214, and to a first rapid deceleration detecting section 200 and a second rapid deceleration detecting section 201 of a rapid deceleration determination unit 203.
  • the vehicle speed (hereafter, undetermined vehicle speed) is calculated based on the elapsed time measured by the elapsed time measuring unit 213, and the calculated undetermined vehicle speed is outputted to the second rapid deceleration detecting section 201.
  • the vehicle speed calculating unit 210 the vehicle speed is calculated from the pulse interval of the inputted pulse signal, and the vehicle speed memory unit 211 stores the calculated vehicle speed, and the pulse interval used for calculating the vehicle speed.
  • the vehicle speed memory unit 211 outputs the vehicle speed and the pulse interval to a deceleration pulse interval calculating unit 212, and to the first rapid deceleration detecting section 200 and second rapid deceleration detecting section 201 in the rapid deceleration determination unit 203.
  • the deceleration pulse interval calculating unit 212 the vehicle speed pulse interval corresponding to a predetermined deceleration is calculated relative to the vehicle speed stored in the vehicle speed memory unit 211.
  • the vehicle speed pulse interval corresponding to this predetermined deceleration may be represented as a rapid deceleration limit line as shown in FIG. 3 .
  • the figure is a map having time and vehicle speed at prior predetermined time as axes.
  • the rapid deceleration limit line is drawn on a map by plotting vehicle speed pulse intervals corresponding to the predetermined deceleration, calculated for each vehicle speed at the prior predetermined time.
  • the rapid deceleration limit line has a lower value, the larger is the vehicle speed at the prior predetermined time.
  • the region above the rapid deceleration limit line in FIG. 3 is taken to be the rapid deceleration region.
  • a brake ON/OFF signal from the brake sensor 21 is inputted to the first rapid deceleration detecting section 200 and second rapid deceleration detecting section 201.
  • ON signal indicates that the brake is in operation
  • OFF signal indicates that the brake is not in operation.
  • the first rapid deceleration detecting section 200 and second rapid deceleration detecting section 201 in the rapid deceleration determination unit 203 detect rapid vehicle deceleration by mutually parallel but dissimilar ways based on input information. Also, when at least one of the first rapid deceleration detecting section 200 and second rapid deceleration detecting section 201 detects rapid vehicle deceleration, the rapid deceleration determining unit 203 determines that the vehicle has rapidly decelerated, and outputs the determination result to a control signal transmitting unit 202.
  • the control signal transmitting unit 202 outputs a control signal commanding disengagement of the lockup clutch 3 to the lockup solenoid 13 of the control valve 10 when it received a vehicle rapid deceleration determining signal from the rapid deceleration determination unit 203. As a result, the lockup solenoid 13 is driven so as to disengage the lockup clutch 3.
  • a step 300 the vehicle speed pulse interval corresponding to a predetermined deceleration relative to the vehicle speed at the prior predetermined time and the present 1-pulse interval measurement elapsed time (QtPRD) are compared, and it is determined whether or not the vehicle may be rapidly decelerating. Specifically, this determination determines that the vehicle may be rapidly decelerating, when the intersection point between the vehicle speed at the prior predetermined time and the present 1-pulse interval measurement elapsed time on the map shown in FIG. 3 lies within a rapid deceleration region defined by a preset rapid deceleration limit line as boundary line.
  • QtPRD 1-pulse interval measurement elapsed time
  • step 301 it is determined whether or not the vehicle speed stored in the vehicle speed memory unit 211 lies within a set value range for disengaging the lockup clutch 3.
  • the routine proceeds to a step 302, and when it does not lie within the set value range, the routine proceeds to a step 305.
  • step 305 all processing is reset, then the routine returns to the step 300 and the processing is repeated.
  • step 302 when the brake ON/OFF signal from the brake sensor 21 is ON, the routine proceeds to a step 303.
  • the routine proceeds to the step 305 to reset the processing and the routine returns to the step 300.
  • step 303 it is determined whether or not the vehicle is accelerating based on the vehicle speed stored in the vehicle speed memory unit 211.
  • the routine proceeds to a step 304.
  • the routine proceeds to the step 305.
  • step 304 it is determined that the vehicle has rapidly decelerated. After determining the rapid deceleration, the routine returns to the step 301 and the processing is repeated.
  • a deceleration "a" representing the slope of the vehicle speed change is calculated using the equation (1) shown below, based on information such as the inputted vehicle speed, and so forth, and compared with a preset, predetermined deceleration threshold value (QAVSP) to determine whether or not the vehicle may be rapidly decelerating.
  • QAVSP predetermined deceleration threshold value
  • the time width from the time t2 to t3 represents 1-pulse interval measurement elapsed time (QtPRD), and the time width from the time t1 to t2 represents a present determined pulse interval (Toutrev).
  • QVsp1NF is the vehicle speed calculated based on the vehicle speed pulse received at the time t2.
  • This vehicle speed QVsp1NF is the average vehicle speed between the times t1, t2 calculated from the time width between the times t1 and t2, and the value QVsp1NF is taken at a time tA which is the center point between the times t1, t2.
  • the vehicle speed calculated based on this assumed vehicle speed pulse is the undetermined vehicle speed QVsp1.
  • the value of the undetermined vehicle speed QVsp1 is taken at a time tB at the center point between the times t2 and t3.
  • the deceleration "a” calculated from equation (1) represents the slope of the vehicle speed change from the time tA to tB as shown in FIG. 6 .
  • this deceleration "a” is equal to or less than a predetermined deceleration threshold value QAVSP (absolute value increases in a negative direction), i.e., when the slope of the vehicle speed change represented by the deceleration "a” is a sharper slope in the speed decreasing direction than the slope of the speed change represented by the predetermined deceleration threshold value, it is determined that the vehicle may be rapidly decelerating, and the routine proceeds to a step 401.
  • the deceleration "a" is larger than the predetermined deceleration threshold value QAVSP, the processing of the step 400 is repeated.
  • step 401 to the step 405 the processing is identical to the processing from the aforesaid step 301 to the step 305, and its description is therefore omitted.
  • the deceleration "a” is calculated from the equation (1) using the undetermined vehicle speed QVsp1 obtained assuming that the vehicle speed pulse was received at the present time t3 when a vehicle speed pulse was not received, and the vehicle speed QVsp1NF which is already determined.
  • this deceleration "a" is equal to or less than the predetermined deceleration threshold value QAVSP, the vehicle speed is within the set vehicle speed range in which the lockup should be released, the brake is ON and the vehicle is also not accelerating, it is determined that the vehicle has rapidly decelerated.
  • the first rapid deceleration detecting section 200 compares the elapsed time measured by the elapsed time measuring unit 213 with the pulse interval corresponding to the predetermined deceleration relative to the vehicle speed stored by the vehicle speed memory unit 211, or the second rapid deceleration detecting section 201 calculates the undetermined vehicle speed from the elapsed time measured by the elapsed time measuring unit 213, calculates the deceleration from the undetermined vehicle speed and the vehicle speed at a prior predetermined time, and compares it with a predetermined deceleration threshold value.
  • rapid vehicle deceleration can immediately be determined at the present time without waiting for the determination of the vehicle speed after input of the next pulse signal.
  • first rapid deceleration detecting section 200 and second rapid deceleration detecting section 201 simultaneously perform processing for detecting rapid vehicle deceleration in different way each other, so rapid vehicle deceleration can be determined more quickly.
  • rapid deceleration can be promptly determined in this way, the lockup solenoid 13 as a drive unit can be promptly commanded to disengage the lockup clutch 3, thus engine stall due to the delay in disengaging the lockup clutch can be prevented.
  • the vehicle speed pulse interval corresponding to a predetermined deceleration relative to the vehicle speed at a predetermined prior time is compared with the present 1-pulse interval measurement elapsed time to determine whether or not the vehicle may be rapidly decelerating, but instead of the pulse interval, the vehicle speed corresponding to a predetermined deceleration relative to the vehicle speed at a predetermined prior time, may be compared with an undetermined vehicle speed obtained from the present 1-pulse interval measurement elapsed time, to determine that the vehicle is rapidly decelerating if a difference between the compared vehicle speeds is equal to or greater than a predetermined threshold value.
  • equation (1) is used to calculate the deceleration "a” representing the slope of the vehicle speed change, but the invention is not limited thereto.
  • a deceleration "a'” may be calculated using the following equation (2) instead of equation (1), and a comparison made with a preset predetermined threshold value (QAVSP').
  • QAVSP' a preset predetermined threshold value
  • a difference between the vehicle speed QVsp1NF calculated based on the vehicle speed pulse received at the time t2 shown in FIG. 6 and the vehicle speed QVsp1 calculated based on the elapsed time from when the vehicle speed pulse was received at the time t2 to the present time when a vehicle speed pulse has not been received is divided by a time width obtained by adding the present determined pulse interval (Toutrev) to the 1-pulse interval measurement elapsed time (QtPRD). Then, by comparing the deceleration "a'" calculated from equation (2) and the preset, predetermined threshold value (QAVSP'), rapid vehicle deceleration can be determined.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Fluid Gearings (AREA)

Claims (9)

  1. Dispositif de détection de décélération rapide d'un véhicule, comprenant :
    un détecteur de rotation qui produit un signal impulsionnel de vitesse de véhicule en synchronisme avec une vitesse de véhicule ;
    un système de mesure de temps écoulé qui mesure un temps écoulé depuis un instant où est entré le signal impulsionnel de vitesse de véhicule ;
    un système de calcul de vitesse de véhicule qui calcule la vitesse du véhicule d'après l'intervalle du signal impulsionnel de vitesse de véhicule ;
    un système de mémoire de vitesse de véhicule qui mémorise une vitesse déterminée du véhicule à un instant antérieur prédéterminé et la vitesse instantanée déterminée du véhicule ;
    un système de calcul d'intervalle d'impulsions de décélération qui calcule un intervalle d'impulsions correspondant à une décélération prédéterminée par rapport à la vitesse déterminée du véhicule à l'instant antérieur prédéterminé mémorisé par ledit système de mémoire de vitesse de véhicule ;
    un système de calcul une vitesse indéterminée de véhicule qui calcule une vitesse indéterminée du véhicule d'après le temps écoulé depuis l'instant où est entré le signal impulsionnel de vitesse de véhicule, mesuré par ledit système de mesure de temps écoulé, jusqu'à l'instant immédiat ; et
    un système de détermination de décélération rapide qui détermine une décélération rapide du véhicule ;
    dans lequel ledit système de détermination de décélération rapide comprend
    un premier moyen de détection de décélération rapide qui compare le temps écoulé mesuré par ledit système de mesure de temps écoulé avec l'intervalle d'impulsions calculé par ledit système de calcul d'intervalle d'impulsions de décélération, et détermine une décélération rapide du véhicule quand le temps écoulé est plus long que l'intervalle d'impulsions ; et
    un second moyen de détection de décélération rapide qui, à l'aide de la vitesse instantanée déterminée du véhicule mémorisée par ledit système de mémoire de vitesse du véhicule, de la vitesse indéterminée de véhicule calculée par ledit système de calcul de vitesse indéterminée de véhicule, du temps écoulé mesuré par ledit système de mesure de temps écoulé, et de l'intervalle instantané d'impulsions déterminé, sur la base desquels est calculée ladite vitesse instantanée déterminée du véhicule, calcule une décélération représentant la pente d'un changement de vitesse de véhicule en divisant la différence entre la vitesse indéterminée du véhicule et la vitesse instantanée déterminée du véhicule par une valeur de laps de temps calculée à l'aide de l'intervalle instantané d'impulsions déterminé et dudit temps écoulé, et déterminé une décélération rapide du véhicule quand la décélération calculée a atteint une valeur seuil prédéterminée ; et dans lequel
    le premier moyen de détection de décélération rapide et le second moyen de détection de décélération rapide effectuent simultanément un traitement pour détecter une décélération rapide de véhicule, et le système de détermination de décélération rapide détermine que le véhicule a décéléré rapidement, quand au moins un desdits premier moyen de détection de décélération rapide et second moyen de détection de décélération rapide détermine une décélération rapide du véhicule.
  2. Dispositif de détection de décélération rapide de véhicule selon la revendication 1, comprenant :
    une unité d'émission de signal de commande qui transmet un signal de commande à un système de conduite dudit véhicule ;
    dans lequel ledit système d'émission de signal de commande transmet un signal de commande audit système de conduite quand une décélération rapide du véhicule est déterminée par ledit système de détermination de décélération rapide.
  3. Dispositif de détection de décélération rapide de véhicule selon la revendication 2, dans lequel :
    ledit système de conduite est un circuit de conduite qui commande l'embrayage ou le débrayage d'un dispositif d'embrayage de verrouillage équipant une transmission automatique, et
    ledit système d'émission de signal de commande transmet un signal de commande audit circuit de conduite pour débrayer l'embrayage de verrouillage en prise quand une décélération rapide du véhicule est déterminée par ledit système détermination de décélération rapide.
  4. Dispositif de détection de décélération rapide de véhicule selon l'une quelconque des revendications 1, 2 et 3, dans lequel :
    ledit système de détermination de décélération rapide détermine la décélération rapide du véhicule, dans lequel ladite vitesse de véhicule calculée se situe dans un intervalle de valeurs de réglage prédéterminé.
  5. Dispositif de détection de décélération rapide de véhicule selon l'une quelconque des revendications 1, 2, 3 et 4, comprenant :
    un détecteur de frein qui détecte l'état de MARCHE/ARRET d'un frein de véhicule ; dans lequel
    ledit système de détermination de décélération rapide détermine la décélération rapide du véhicule quand l'état de MARCHE du frein de véhicule est détecté par ledit détecteur de frein.
  6. Procédé pour déterminer la décélération rapide d'un véhicule, ledit procédé comprenant des étapes consistant à
    déterminer la vitesse du véhicule d'après des impulsions d'un signal impulsionnel représentatif de la vitesse du véhicule ;
    déterminer un laps de temps qui s'est écoulé après la réception d'une dite impulsion antérieure ; détecter la décélération rapide du véhicule en exécutant simultanément les étapes de traitement suivantes consistant à :
    1) déterminer un intervalle seuil d'impulsions correspondant à une valeur de décélération rapide prédéterminée pour une vitesse de véhicule déterminée en utilisant ladite impulsion antérieure et en comparant ledit intervalle seule d'impulsions avec ledit laps de temps ; et
    2) déterminer une valeur de vitesse de véhicule à l'aide dudit laps de temps, en utilisant ladite valeur de vitesse de véhicule pour déterminer une valeur de décélération et en comparant cette valeur de décélération avec une donnée mémorisée de seuil de décélération; et
    déterminer une décélération rapide quand le laps de temps est plus long que l'intervalle seuil d'impulsions ou quand la valeur de décélération est égale ou inférieure à la donnée mémorisée de seuil de décélération.
  7. Programme informatique comprenant une ou plusieurs parties de logiciel de programme informatique qui, lorsqu'elles sont exécutées dans un environnement d'exécution, servent à mettre en oeuvre au moins une des étapes de la revendication 6.
  8. Support de stockage de données sur lequel est stockée au moins une desdites parties de logiciel informatique de la revendication 7.
  9. Micro-ordinateur muni d'un support de stockage de données selon la revendication 8.
EP03256011A 2002-09-24 2003-09-24 Dispositif pour déterminer une décéleration rapide d'un véhicule Expired - Fee Related EP1403646B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002277193 2002-09-24
JP2002277193A JP4220207B2 (ja) 2002-09-24 2002-09-24 車両用急減速検出装置

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EP1403646A1 EP1403646A1 (fr) 2004-03-31
EP1403646B1 true EP1403646B1 (fr) 2010-02-24

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US (1) US7099763B2 (fr)
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JP5720796B2 (ja) * 2011-10-21 2015-05-20 トヨタ自動車株式会社 車両制御装置
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US7099763B2 (en) 2006-08-29
JP4220207B2 (ja) 2009-02-04
DE60331396D1 (de) 2010-04-08
EP1403646A1 (fr) 2004-03-31
US20040117097A1 (en) 2004-06-17
JP2004116563A (ja) 2004-04-15

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